US20100175496A1 - Robot - Google Patents
Robot Download PDFInfo
- Publication number
- US20100175496A1 US20100175496A1 US12/654,531 US65453109A US2010175496A1 US 20100175496 A1 US20100175496 A1 US 20100175496A1 US 65453109 A US65453109 A US 65453109A US 2010175496 A1 US2010175496 A1 US 2010175496A1
- Authority
- US
- United States
- Prior art keywords
- outer cover
- cover member
- link members
- robot
- shape
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Abandoned
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/06—Safety devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S901/00—Robots
- Y10S901/27—Arm part
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T74/00—Machine element or mechanism
- Y10T74/20—Control lever and linkage systems
- Y10T74/20207—Multiple controlling elements for single controlled element
- Y10T74/20305—Robotic arm
- Y10T74/20329—Joint between elements
Definitions
- Embodiments of the present invention relate to a robot, which communicates with a gesture.
- a gesture refers to the motion of a body or a hand, which is used to provide added effect to a conversation. In this way, a robot expresses feelings and state of mind.
- a robot generally includes links and joints, and thus, has limited ability to make gestures. That is, if the robot can achieve a curved shape, the robot easily makes the gesture. However, the curved shape is not easily achieved with the links and the joints, and thus it is difficult to make a gesture.
- the robot when the robot includes plural links and joints to achieve a curved shape, it is difficult to control the motion, due to the increase in the number of the links and joints. Moreover, the curved shaped obtained with the plural links and joints does not have a natural appearance, and thus the expression of the feeling or state of mind of the robot does not look natural.
- a robot including a plurality of link members, and an outer cover member surrounding the plurality of link members, wherein a shape of the outer cover member is varied according to variation in the shapes of the plurality of link members.
- the shape of the outer cover member may be varied into a curved shape.
- the outer cover member may be made of a flexible and elastic material.
- the plurality of link members may include at least three link members.
- the outer cover member may be fixed to both ends of the plurality of link members. One end of the outer cover member may be opened, and the outer cover member may receive the plurality of link members through the opened end.
- a robot including a plurality of link members, and an outer cover member surrounding the plurality of link members, wherein the outer cover member is fixed to both ends of the plurality of link members, and the shape of the outer cover member is varied to correspond to the variations of the shapes of the plurality of link members.
- the shape of the outer cover member may be varied into a curved shape.
- the outer cover member may be made of a flexible and elastic material.
- the shape of the outer cover member may be varied under the condition that the outer cover member is adhered closely to the plurality of link members.
- a robot including a body having a plurality of link members, and an outer cover member surrounding the plurality of link members, wherein the body is varied into a streamlined shape according to the variation of the outer cover member into a curved shape due to the variations of the shapes of the plurality of link members.
- the body may be varied into a wave shape.
- the body may be varied into a twisted shape
- FIG. 1 is a view illustrating a robot in accordance with an embodiment of the present invention in a state in which the robot makes no gesture;
- FIG. 2 is a view illustrating the robot in accordance with the embodiment of the present invention in a state in which the robot makes a gesture
- FIG. 3 is a perspective view illustrating a body of the robot in accordance with the embodiment of the present invention.
- FIGS. 4 and 5 are views respectively illustrating gestures made by the robot in accordance with the embodiment of the present invention.
- FIG. 1 is a view illustrating a robot in accordance with an embodiment of the present invention in a state in which the robot makes no gesture
- FIG. 2 is a view illustrating the robot in accordance with the embodiment of the present invention in a state in which the robot makes a gesture.
- a robot 10 in accordance with this embodiment of the present invention is capable of making a gesture. If the robot 10 has a streamlined shape, the robot 10 may make a gesture simply with the shape.
- the streamlined shape means that the curved shape of the robot 10 is natural so that a human recognizes the expression of the feeling or state of mind of the robot 10 during a process of nonverbal communication between the robot 10 and the human.
- the robot 10 includes a head 20 , a body 30 , arms 80 , and a support 70 . Particularly, the robot 10 changes the body 30 into a streamlined shape, and thus makes a gesture.
- the body 30 includes a plurality of link members 41 - 45 .
- the plural link members 41 - 45 include a first link member 41 , a second link member 42 , a third link member 43 , a fourth link member 44 , and a fifth link member 45 .
- Each of the plural link members 41 - 45 has a rectilinear shape.
- the body 30 further includes spinal joints 51 installed among the plural link members 41 - 45 .
- the spinal joints 51 are rotated in two perpendicular directions.
- the plural link members 41 - 45 are respectively rotated in the X direction or the Y direction by the spinal joints 51 . Therefore, the shape of the body 30 is varied by the rotation of the plural link members 41 - 45 .
- the plural link members 41 - 45 have a rectilinear shape, although the shapes of the plural link members 41 - 45 are varied, the body 30 has difficulty in having a natural curved shape.
- the plural link members 41 - 45 respectively have designated lengths and the number of the joints 51 installed among the link members 41 - 45 is limited, the body 30 has greater difficulty in having a natural curved shape.
- the body 30 further includes an outer cover member 61 surrounding the plural link members 41 - 45 .
- the outer cover member 61 is made of a flexible and elastic material.
- the shape of the outer cover member 61 may be varied according to the variation of the shape of the plural link members 41 - 45 . Further, since the shape of the outer cover member 61 is varied when the outer cover member 61 is adhered closely to the plural link members 41 - 45 , the shape of the outer cover member 61 is substantially the same as the shape of the plural link members 41 - 45 .
- the outer cover member 61 has a natural curved shape when the shape of the outer cover member 61 is varied. Thereby, the body 30 makes a natural curved shape due to the outer cover member 61 , and thus the robot 10 can make a gesture using the body 30 .
- the support 70 is movably provided to support the body 30 .
- the support 70 is connected to the body 30 by a lower joint 52 , and more particularly, the fifth link member 45 out of the plural link members 41 - 45 and the support 70 are connected by the lower joint 52 .
- the support 70 includes wheels 71 and driving devices (not shown) to drive the wheels 71 , and thus allows the robot 10 to move.
- the head 20 is supported by the body 30 .
- the head 20 is connected to the body 30 by an upper joint 53 , and more particularly, the first link member 41 out of the plural link members 41 - 45 and the head 20 are connected by the upper joint 53 .
- the head 20 includes a display device 21 to display data, and a user recognizes the data displayed by the robot 10 through the display device 21 .
- the head 20 is capable of expressing a gesture together with the body 30 .
- the arms 80 are supported by the body 30 .
- the arms 80 are connected to the body 30 by shoulder joints (not shown), and more particularly, the first link member 41 out of the plural link members 41 - 45 and the arms 80 are connected by the shoulder joints (not shown). Further, the arms 80 are capable of expressing a gesture together with the body 30 .
- the support 70 may be surrounded by a second outer cover member 62 .
- the second outer cover member 62 surrounding the support 70 may be formed integrally with the outer cover member 61 surrounding the plural link members 41 - 45 , or may be formed separately from the outer cover member 61 . Further, the head 20 the arms 80 may be respectively surrounded by separate outer cover members.
- the second outer cover member 62 surrounding the support 70 is formed integrally with the outer cover member 61 surrounding the plural link members 41 - 45 , the lower end of the outer cover member 61 is fixed to the support 70 by the second cover member 61 surrounding the support 70 , and the upper end of the outer cover member 61 is fixed to the upper end of the first link member 41 .
- FIG. 3 is a perspective view illustrating the body of the robot in accordance with the embodiment of the present invention.
- the outer cover member 61 surrounding the plural link members 41 - 45 may be formed separately from the second outer cover member 62 surrounding other parts except for the plural link members 41 - 45 . Since the upper end of the outer cover member 61 is partially opened and the lower end of the outer cover member 61 is fully opened, the plural link members 41 - 45 are inserted into the outer cover member 61 through the opened lower end of the outer cover member 61 . In this case, the lower end of the outer cover member 61 is fixed to the lower end of the fifth link member 45 , and the upper end of the outer cover member 61 is fixed to the upper end of the first link member 41 .
- various methods including a screw connection method may be used.
- the reason why the outer cover member 61 is fixed to both ends of the plural link members 41 - 45 is that the outer cover member 61 has a more natural curved shape and thus the body 30 has a naturally curved shape. That is, if the outer cover member 61 is fixed to the second link member 42 , the third link member 43 , and the fourth link member 44 out of the plural link members 41 - 45 , the natural curved shape of the outer cover member 61 may be deformed due to the fixed portions.
- FIGS. 4 and 5 are views respectively illustrating gestures made by the robot in accordance with the embodiment of the present invention. As shown in FIGS. 4 and 5 , the robot 10 in accordance with the embodiment of the present invention makes various gestures.
- FIG. 4 illustrates the body 30 in a wave shape.
- the plural link members 41 - 45 are respectively rotated in the X1 direction or the X2 direction, and thus the upper portion of the body 30 is bent in the X1 direction and the lower portion of the body 30 is bent in the X2 direction.
- the overall shape of the plural link members 41 - 45 is varied according to the rotation of the plural link members 41 - 45 in the X direction, and thus the shape of the outer cover member 61 surrounding the plural link members 41 - 45 is varied.
- the body 30 may make the wave shape. Consequently, the robot 10 makes a gesture, such as a wave, and thus may communicate nonverbally with a human. Moreover, the robot 10 may make additional gestures using the arms 80 and the head 20 .
- FIG. 5 illustrates the body 30 expressed in a twisted shape.
- the plural link members 41 - 45 are respectively rotated at different angles in the Y1 direction and thus the body 30 is twisted in the Y1 direction, and simultaneously, the plural link members 41 - 45 are respectively rotated in the X1 direction or the X2 direction and thus the body 30 is bent in the X1 direction.
- the overall shape of the plural link members 41 - 45 is varied according to the rotation of the plural link members 41 - 45 in the X direction and the Y direction, and thus the shape of the outer cover member 61 surrounding the plural link members 41 - 45 is varied.
- the robot 10 makes a gesture, such as a twist, and thus may communicate nonverbally with a human.
- the robot 10 may make additional gestures using the arms 80 and the head 20 .
- the robot including links and joints makes a natural curved line using an outer cover member, thus achieving the expression of the feeling and state of mind of the robot through nonverbal communication.
Abstract
Disclosed herein is a robot, which is capable of communicating according to a gesture. The robot includes a plurality of link members, and an outer cover member surrounding the plurality of link members. The shape of the outer cover member is varied into a curved shape, when the outer cover member is adhered closely to the plurality of link members, according to the variation of the shapes of the plurality of link members.
Description
- This application claims the benefit of Korean Patent Application No. 2009-0002919, filed on Jan. 14, 2009, in the Korean Intellectual Property Office, the disclosure of which is incorporated herein by reference.
- 1. Field
- Embodiments of the present invention relate to a robot, which communicates with a gesture.
- 2. Description of the Related Art
- Due to recent develops in robotic engineering, robots increasingly are communicating with humans. Various techniques for nonverbal communication between robots and humans have been developed.
- One example of such nonverbal communication is a gesture. A gesture refers to the motion of a body or a hand, which is used to provide added effect to a conversation. In this way, a robot expresses feelings and state of mind.
- However, a robot generally includes links and joints, and thus, has limited ability to make gestures. That is, if the robot can achieve a curved shape, the robot easily makes the gesture. However, the curved shape is not easily achieved with the links and the joints, and thus it is difficult to make a gesture.
- Further, when the robot includes plural links and joints to achieve a curved shape, it is difficult to control the motion, due to the increase in the number of the links and joints. Moreover, the curved shaped obtained with the plural links and joints does not have a natural appearance, and thus the expression of the feeling or state of mind of the robot does not look natural.
- Therefore, it is an aspect of the present invention to provide a robot, in which an outer cover member is added to a body including links and joints to make a gesture.
- Additional aspects of the invention will be set forth in part in the description which follows and, in part, will be apparent from the description, or may be learned by practice of the invention.
- The foregoing and/or other aspects of the present invention are achieved by providing a robot including a plurality of link members, and an outer cover member surrounding the plurality of link members, wherein a shape of the outer cover member is varied according to variation in the shapes of the plurality of link members.
- The shape of the outer cover member may be varied into a curved shape. The outer cover member may be made of a flexible and elastic material. The plurality of link members may include at least three link members. The outer cover member may be fixed to both ends of the plurality of link members. One end of the outer cover member may be opened, and the outer cover member may receive the plurality of link members through the opened end.
- The foregoing and/or others aspect of the present invention are also achieved by providing a robot including a plurality of link members, and an outer cover member surrounding the plurality of link members, wherein the outer cover member is fixed to both ends of the plurality of link members, and the shape of the outer cover member is varied to correspond to the variations of the shapes of the plurality of link members.
- The shape of the outer cover member may be varied into a curved shape. The outer cover member may be made of a flexible and elastic material. The shape of the outer cover member may be varied under the condition that the outer cover member is adhered closely to the plurality of link members.
- The foregoing and/or other aspects of the present invention are also achieved by providing a robot including a body having a plurality of link members, and an outer cover member surrounding the plurality of link members, wherein the body is varied into a streamlined shape according to the variation of the outer cover member into a curved shape due to the variations of the shapes of the plurality of link members.
- The body may be varied into a wave shape. The body may be varied into a twisted shape
- These and/or other aspects of the invention will become apparent and more readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
-
FIG. 1 is a view illustrating a robot in accordance with an embodiment of the present invention in a state in which the robot makes no gesture; -
FIG. 2 is a view illustrating the robot in accordance with the embodiment of the present invention in a state in which the robot makes a gesture; -
FIG. 3 is a perspective view illustrating a body of the robot in accordance with the embodiment of the present invention; and -
FIGS. 4 and 5 are views respectively illustrating gestures made by the robot in accordance with the embodiment of the present invention. - Reference will now be made in detail to the embodiments, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the like elements throughout. The embodiments are described below to explain the present invention by referring to the figures.
-
FIG. 1 is a view illustrating a robot in accordance with an embodiment of the present invention in a state in which the robot makes no gesture, andFIG. 2 is a view illustrating the robot in accordance with the embodiment of the present invention in a state in which the robot makes a gesture. - As shown in
FIGS. 1 and 2 , arobot 10 in accordance with this embodiment of the present invention is capable of making a gesture. If therobot 10 has a streamlined shape, therobot 10 may make a gesture simply with the shape. Here, the streamlined shape means that the curved shape of therobot 10 is natural so that a human recognizes the expression of the feeling or state of mind of therobot 10 during a process of nonverbal communication between therobot 10 and the human. - The
robot 10 includes ahead 20, abody 30,arms 80, and asupport 70. Particularly, therobot 10 changes thebody 30 into a streamlined shape, and thus makes a gesture. - The
body 30 includes a plurality of link members 41-45. The plural link members 41-45 include afirst link member 41, asecond link member 42, athird link member 43, afourth link member 44, and afifth link member 45. Each of the plural link members 41-45 has a rectilinear shape. - The
body 30 further includesspinal joints 51 installed among the plural link members 41-45. Thespinal joints 51 are rotated in two perpendicular directions. The plural link members 41-45 are respectively rotated in the X direction or the Y direction by thespinal joints 51. Therefore, the shape of thebody 30 is varied by the rotation of the plural link members 41-45. However, since the plural link members 41-45 have a rectilinear shape, although the shapes of the plural link members 41-45 are varied, thebody 30 has difficulty in having a natural curved shape. Particularly, when the plural link members 41-45 respectively have designated lengths and the number of thejoints 51 installed among the link members 41-45 is limited, thebody 30 has greater difficulty in having a natural curved shape. - Therefore, the
body 30 further includes anouter cover member 61 surrounding the plural link members 41-45. Theouter cover member 61 is made of a flexible and elastic material. The shape of theouter cover member 61 may be varied according to the variation of the shape of the plural link members 41-45. Further, since the shape of theouter cover member 61 is varied when theouter cover member 61 is adhered closely to the plural link members 41-45, the shape of theouter cover member 61 is substantially the same as the shape of the plural link members 41-45. Moreover, in view of the property of the material of theouter cover member 61, theouter cover member 61 has a natural curved shape when the shape of theouter cover member 61 is varied. Thereby, thebody 30 makes a natural curved shape due to theouter cover member 61, and thus therobot 10 can make a gesture using thebody 30. - The
support 70 is movably provided to support thebody 30. Thesupport 70 is connected to thebody 30 by a lower joint 52, and more particularly, thefifth link member 45 out of the plural link members 41-45 and thesupport 70 are connected by the lower joint 52. Thesupport 70 includeswheels 71 and driving devices (not shown) to drive thewheels 71, and thus allows therobot 10 to move. - The
head 20 is supported by thebody 30. Thehead 20 is connected to thebody 30 by an upper joint 53, and more particularly, thefirst link member 41 out of the plural link members 41-45 and thehead 20 are connected by the upper joint 53. Further, thehead 20 includes adisplay device 21 to display data, and a user recognizes the data displayed by therobot 10 through thedisplay device 21. Thehead 20 is capable of expressing a gesture together with thebody 30. - The
arms 80 are supported by thebody 30. Thearms 80 are connected to thebody 30 by shoulder joints (not shown), and more particularly, thefirst link member 41 out of the plural link members 41-45 and thearms 80 are connected by the shoulder joints (not shown). Further, thearms 80 are capable of expressing a gesture together with thebody 30. - The
support 70 may be surrounded by a secondouter cover member 62. The secondouter cover member 62 surrounding thesupport 70 may be formed integrally with theouter cover member 61 surrounding the plural link members 41-45, or may be formed separately from theouter cover member 61. Further, thehead 20 thearms 80 may be respectively surrounded by separate outer cover members. - If the second
outer cover member 62 surrounding thesupport 70 is formed integrally with theouter cover member 61 surrounding the plural link members 41-45, the lower end of theouter cover member 61 is fixed to thesupport 70 by thesecond cover member 61 surrounding thesupport 70, and the upper end of theouter cover member 61 is fixed to the upper end of thefirst link member 41. -
FIG. 3 is a perspective view illustrating the body of the robot in accordance with the embodiment of the present invention. - As shown in
FIG. 3 , theouter cover member 61 surrounding the plural link members 41-45 may be formed separately from the secondouter cover member 62 surrounding other parts except for the plural link members 41-45. Since the upper end of theouter cover member 61 is partially opened and the lower end of theouter cover member 61 is fully opened, the plural link members 41-45 are inserted into theouter cover member 61 through the opened lower end of theouter cover member 61. In this case, the lower end of theouter cover member 61 is fixed to the lower end of thefifth link member 45, and the upper end of theouter cover member 61 is fixed to the upper end of thefirst link member 41. Here, in order to fix theouter cover member 61 to the lower end of thefifth link member 45, various methods including a screw connection method may be used. - The reason why the
outer cover member 61 is fixed to both ends of the plural link members 41-45 is that theouter cover member 61 has a more natural curved shape and thus thebody 30 has a naturally curved shape. That is, if theouter cover member 61 is fixed to thesecond link member 42, thethird link member 43, and thefourth link member 44 out of the plural link members 41-45, the natural curved shape of theouter cover member 61 may be deformed due to the fixed portions. - Hereinafter, an operation of the robot making a gesture in accordance with the embodiment of the present invention will be described in detail.
FIGS. 4 and 5 are views respectively illustrating gestures made by the robot in accordance with the embodiment of the present invention. As shown inFIGS. 4 and 5 , therobot 10 in accordance with the embodiment of the present invention makes various gestures. -
FIG. 4 illustrates thebody 30 in a wave shape. The plural link members 41-45 are respectively rotated in the X1 direction or the X2 direction, and thus the upper portion of thebody 30 is bent in the X1 direction and the lower portion of thebody 30 is bent in the X2 direction. As described above, the overall shape of the plural link members 41-45 is varied according to the rotation of the plural link members 41-45 in the X direction, and thus the shape of theouter cover member 61 surrounding the plural link members 41-45 is varied. At this time, since theouter cover member 61 is varied into a naturally curved shape, thebody 30 may make the wave shape. Consequently, therobot 10 makes a gesture, such as a wave, and thus may communicate nonverbally with a human. Moreover, therobot 10 may make additional gestures using thearms 80 and thehead 20. -
FIG. 5 illustrates thebody 30 expressed in a twisted shape. The plural link members 41-45 are respectively rotated at different angles in the Y1 direction and thus thebody 30 is twisted in the Y1 direction, and simultaneously, the plural link members 41-45 are respectively rotated in the X1 direction or the X2 direction and thus thebody 30 is bent in the X1 direction. As described above, the overall shape of the plural link members 41-45 is varied according to the rotation of the plural link members 41-45 in the X direction and the Y direction, and thus the shape of theouter cover member 61 surrounding the plural link members 41-45 is varied. At this time, since theouter cover member 61 is varied into a natural curved shape, thebody 30 may naturally express the twisted shape. Consequently, therobot 10 makes a gesture, such as a twist, and thus may communicate nonverbally with a human. Moreover, therobot 10 may make additional gestures using thearms 80 and thehead 20. - As is apparent from the above description, in accordance with the embodiment of the present invention, the robot including links and joints makes a natural curved line using an outer cover member, thus achieving the expression of the feeling and state of mind of the robot through nonverbal communication.
- Although an embodiment of the present invention has been shown and described, it would be appreciated by those skilled in the art that changes may be made in this embodiment without departing from the principles and spirit of the invention, the scope of which is defined in the claims and their equivalents.
Claims (13)
1. A robot comprising:
a plurality of link members; and
an outer cover member adhering to the plurality of link members,
wherein a shape of the outer cover member is varied according to variation in the shapes of the plurality of link members.
2. The robot according to claim 1 , wherein the shape of the outer cover member varies into a curved shape.
3. The robot according to claim 1 , wherein the outer cover member is made of a flexible and elastic material.
4. The robot according to claim 1 , wherein the plurality of link members includes at least three link members.
5. The robot according to claim 1 , wherein the outer cover member is fixed to both ends of the plurality of link members.
6. The robot according to claim 5 , wherein one end of the outer cover member is opened, and the outer cover member receives the plurality of link members through the opened end.
7. A robot comprising:
a plurality of link members; and
an outer cover member surrounding the plurality of link members,
wherein the outer cover member is fixed to both ends of the plurality of link members, and the shape of the outer cover member is varied to correspond to the variations of the shapes of the plurality of link members.
8. The robot according to claim 7 , wherein the shape of the outer cover member is varied into a curved shape.
9. The robot according to claim 7 , wherein the outer cover member is made of a flexible and elastic material.
10. The robot according to claim 7 , wherein the outer cover member is adhered closely to the plurality of link members.
11. A robot comprising:
a body having a plurality of link members, and an outer cover member surrounding the plurality of link members;
wherein the body is varied into a streamlined shape according to variation of the outer cover member into a curved shape due to the variations of shapes of the plurality of link members.
12. The robot according to claim 11 , wherein the body is varied into a wave shape.
13. The robot according to claim 11 , wherein the body is varied into a twisted shape.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US14/471,706 US9751216B2 (en) | 2009-01-14 | 2014-08-28 | Robot |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
KR10-2009-2919 | 2009-01-14 | ||
KR20090002919A KR101493382B1 (en) | 2009-01-14 | 2009-01-14 | Robot |
Related Child Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
US14/471,706 Division US9751216B2 (en) | 2009-01-14 | 2014-08-28 | Robot |
Publications (1)
Publication Number | Publication Date |
---|---|
US20100175496A1 true US20100175496A1 (en) | 2010-07-15 |
Family
ID=42318066
Family Applications (2)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
US12/654,531 Abandoned US20100175496A1 (en) | 2009-01-14 | 2009-12-22 | Robot |
US14/471,706 Active 2030-10-28 US9751216B2 (en) | 2009-01-14 | 2014-08-28 | Robot |
Family Applications After (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
US14/471,706 Active 2030-10-28 US9751216B2 (en) | 2009-01-14 | 2014-08-28 | Robot |
Country Status (2)
Country | Link |
---|---|
US (2) | US20100175496A1 (en) |
KR (1) | KR101493382B1 (en) |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20120282064A1 (en) * | 2011-05-02 | 2012-11-08 | John Anthony Payne | Apparatus and methods of positioning a subsea object |
JP2017007033A (en) * | 2015-06-22 | 2017-01-12 | シャープ株式会社 | robot |
US11413739B2 (en) | 2017-03-31 | 2022-08-16 | Lg Electronics Inc. | Communication robot |
Families Citing this family (12)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
FR2997888B1 (en) * | 2012-11-14 | 2015-08-21 | Commissariat Energie Atomique | ARTICULATED ARM |
CN105171774B (en) * | 2015-08-10 | 2017-02-01 | 华创机器人制造有限公司 | Quick replacement device for intelligent multifunctional plant protection robot |
US11445152B2 (en) | 2018-08-09 | 2022-09-13 | Cobalt Robotics Inc. | Security automation in a mobile robot |
US10486313B2 (en) | 2016-02-09 | 2019-11-26 | Cobalt Robotics Inc. | Mobile robot map generation |
US11772270B2 (en) | 2016-02-09 | 2023-10-03 | Cobalt Robotics Inc. | Inventory management by mobile robot |
US11325250B2 (en) | 2017-02-06 | 2022-05-10 | Cobalt Robotics Inc. | Robot with rotatable arm |
US10913160B2 (en) | 2017-02-06 | 2021-02-09 | Cobalt Robotics Inc. | Mobile robot with arm for door interactions |
US11724399B2 (en) | 2017-02-06 | 2023-08-15 | Cobalt Robotics Inc. | Mobile robot with arm for elevator interactions |
US10906185B2 (en) | 2017-02-06 | 2021-02-02 | Cobalt Robotics Inc. | Mobile robot with arm for access point security checks |
US11082667B2 (en) | 2018-08-09 | 2021-08-03 | Cobalt Robotics Inc. | Contextual automated surveillance by a mobile robot |
US11460849B2 (en) | 2018-08-09 | 2022-10-04 | Cobalt Robotics Inc. | Automated route selection by a mobile robot |
CN109278059B (en) * | 2018-10-31 | 2020-09-29 | 深圳市优必选科技有限公司 | Robot and finger limiting structure thereof |
Citations (19)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US3190286A (en) * | 1961-10-31 | 1965-06-22 | Bausch & Lomb | Flexible viewing probe for endoscopic use |
US4494417A (en) * | 1979-03-16 | 1985-01-22 | Robotgruppen Hb | Flexible arm, particularly a robot arm |
US4848179A (en) * | 1988-02-16 | 1989-07-18 | Trw Inc. | Flexidigit robotic manipulator |
US5062855A (en) * | 1987-09-28 | 1991-11-05 | Rincoe Richard G | Artifical limb with movement controlled by reversing electromagnet polarity |
US5337734A (en) * | 1992-10-29 | 1994-08-16 | Advanced Polymers, Incorporated | Disposable sheath with optically transparent window formed continuously integral therewith |
US5386816A (en) * | 1991-10-04 | 1995-02-07 | Kabushiki Kaisha Machida Seisakusho | Endoscope |
US5406939A (en) * | 1994-02-14 | 1995-04-18 | Bala; Harry | Endoscope sheath |
US5514074A (en) * | 1993-02-12 | 1996-05-07 | Olympus Optical Co., Ltd. | Endoscope apparatus of an endoscope cover system for preventing buckling of an endoscope cover |
US5704899A (en) * | 1995-10-10 | 1998-01-06 | Conceptus, Inc. | Protective sheath for a fiberoptic image guide within an articulated endoscope |
US6247738B1 (en) * | 1998-01-20 | 2001-06-19 | Daum Gmbh | Robot hand |
US6733440B2 (en) * | 1999-01-21 | 2004-05-11 | Vision Sciences, Inc. | Apparatus and method for forming thin-walled elastic components from an elastomeric material |
JP2004166840A (en) * | 2002-11-18 | 2004-06-17 | Olympus Corp | Endoscope |
US20050177025A1 (en) * | 2004-01-28 | 2005-08-11 | Marc Jaker | Prophylactic polymer probe cover |
US20070043259A1 (en) * | 2000-04-03 | 2007-02-22 | Ross Jaffe | Endoscope Having a Guide Tube |
US7361197B2 (en) * | 2005-04-01 | 2008-04-22 | Rex Clayton Winfrey | Prosthetic hand having a conformal, compliant grip and opposable, functional thumb |
US20080294007A1 (en) * | 2006-11-09 | 2008-11-27 | Tadatsugu Takada | Bending portion of insertion part of endoscope and endoscope provided with insertion part including bending portion |
US7665893B2 (en) * | 2007-02-16 | 2010-02-23 | Parker Laboratories, Inc. | Protective cover set for a medical probe |
US7811277B2 (en) * | 2004-09-30 | 2010-10-12 | Boston Scientific Scimed, Inc. | Steerable device and system |
US7955042B2 (en) * | 2007-08-31 | 2011-06-07 | Kabushiki Kaisha Toshiba | Manipulator |
Family Cites Families (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS5644701U (en) * | 1979-09-17 | 1981-04-22 | ||
JPH09254076A (en) * | 1996-03-25 | 1997-09-30 | Fanuc Ltd | Heat retaining structure for robot |
US6543307B2 (en) * | 2001-04-06 | 2003-04-08 | Metrica, Inc. | Robotic system |
JP2008142829A (en) | 2006-12-11 | 2008-06-26 | National Institute Of Advanced Industrial & Technology | Everyday life support manipulation device |
-
2009
- 2009-01-14 KR KR20090002919A patent/KR101493382B1/en active IP Right Grant
- 2009-12-22 US US12/654,531 patent/US20100175496A1/en not_active Abandoned
-
2014
- 2014-08-28 US US14/471,706 patent/US9751216B2/en active Active
Patent Citations (19)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US3190286A (en) * | 1961-10-31 | 1965-06-22 | Bausch & Lomb | Flexible viewing probe for endoscopic use |
US4494417A (en) * | 1979-03-16 | 1985-01-22 | Robotgruppen Hb | Flexible arm, particularly a robot arm |
US5062855A (en) * | 1987-09-28 | 1991-11-05 | Rincoe Richard G | Artifical limb with movement controlled by reversing electromagnet polarity |
US4848179A (en) * | 1988-02-16 | 1989-07-18 | Trw Inc. | Flexidigit robotic manipulator |
US5386816A (en) * | 1991-10-04 | 1995-02-07 | Kabushiki Kaisha Machida Seisakusho | Endoscope |
US5337734A (en) * | 1992-10-29 | 1994-08-16 | Advanced Polymers, Incorporated | Disposable sheath with optically transparent window formed continuously integral therewith |
US5514074A (en) * | 1993-02-12 | 1996-05-07 | Olympus Optical Co., Ltd. | Endoscope apparatus of an endoscope cover system for preventing buckling of an endoscope cover |
US5406939A (en) * | 1994-02-14 | 1995-04-18 | Bala; Harry | Endoscope sheath |
US5704899A (en) * | 1995-10-10 | 1998-01-06 | Conceptus, Inc. | Protective sheath for a fiberoptic image guide within an articulated endoscope |
US6247738B1 (en) * | 1998-01-20 | 2001-06-19 | Daum Gmbh | Robot hand |
US6733440B2 (en) * | 1999-01-21 | 2004-05-11 | Vision Sciences, Inc. | Apparatus and method for forming thin-walled elastic components from an elastomeric material |
US20070043259A1 (en) * | 2000-04-03 | 2007-02-22 | Ross Jaffe | Endoscope Having a Guide Tube |
JP2004166840A (en) * | 2002-11-18 | 2004-06-17 | Olympus Corp | Endoscope |
US20050177025A1 (en) * | 2004-01-28 | 2005-08-11 | Marc Jaker | Prophylactic polymer probe cover |
US7811277B2 (en) * | 2004-09-30 | 2010-10-12 | Boston Scientific Scimed, Inc. | Steerable device and system |
US7361197B2 (en) * | 2005-04-01 | 2008-04-22 | Rex Clayton Winfrey | Prosthetic hand having a conformal, compliant grip and opposable, functional thumb |
US20080294007A1 (en) * | 2006-11-09 | 2008-11-27 | Tadatsugu Takada | Bending portion of insertion part of endoscope and endoscope provided with insertion part including bending portion |
US7665893B2 (en) * | 2007-02-16 | 2010-02-23 | Parker Laboratories, Inc. | Protective cover set for a medical probe |
US7955042B2 (en) * | 2007-08-31 | 2011-06-07 | Kabushiki Kaisha Toshiba | Manipulator |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20120282064A1 (en) * | 2011-05-02 | 2012-11-08 | John Anthony Payne | Apparatus and methods of positioning a subsea object |
JP2017007033A (en) * | 2015-06-22 | 2017-01-12 | シャープ株式会社 | robot |
US11413739B2 (en) | 2017-03-31 | 2022-08-16 | Lg Electronics Inc. | Communication robot |
Also Published As
Publication number | Publication date |
---|---|
US9751216B2 (en) | 2017-09-05 |
KR101493382B1 (en) | 2015-02-13 |
KR20100083503A (en) | 2010-07-22 |
US20140366676A1 (en) | 2014-12-18 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
US9751216B2 (en) | Robot | |
JP4643429B2 (en) | Hand device | |
Fu et al. | Interfacing soft and hard: A spring reinforced actuator | |
US10286561B2 (en) | Finger mechanism, robot hand and robot hand controlling method | |
US8356448B2 (en) | Movable tensegrity structure | |
CN103192398A (en) | Method for controlling robot hand | |
US20160339589A1 (en) | Hand intended for being provided on a humanoid robot with improved fingers | |
WO2012134212A2 (en) | Tongue module for robot | |
US10248208B2 (en) | Tactile transmission device and user interface system having same | |
Fernando et al. | TELESAR V: TELExistence surrogate anthropomorphic robot | |
US20110162477A1 (en) | Robot | |
US10029375B2 (en) | Tendon systems for robots | |
WO2014025111A1 (en) | Structure having variable rigidity | |
US10990177B2 (en) | Tactile transmission device and user interface system including the same | |
JP2010064157A (en) | Cable wiring structure | |
KR20170101548A (en) | Robot Hand Assembly Having Compliant Finger Unit | |
Jung et al. | Robotic remote control based on human motion via virtual collaboration system: A survey | |
US20180009117A1 (en) | Industrial robot | |
US20210268664A1 (en) | Robot hand device | |
CN110554764A (en) | Feedback type glove and motion capture system | |
CN110366477A (en) | Robot cell with individual actuator and common reversed actuator devices for multiple sections | |
KR101034203B1 (en) | Robot hand and humanoid robot having the same | |
CN215789924U (en) | Multi freedom software clamping jaw | |
JP2005306187A (en) | Assembling simulation device of linear flexible material | |
Li et al. | Mechanical design and optimization of a novel fMRI compatible haptic manipulator |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
AS | Assignment |
Owner name: SAMSUNG ELECTRONICS CO., LTD., KOREA, REPUBLIC OF Free format text: ASSIGNMENT OF ASSIGNORS INTEREST;ASSIGNORS:KIM, HONG WON;HAN, WOO SUP;KIM, YONG JAE;REEL/FRAME:023737/0102 Effective date: 20091109 |
|
STCB | Information on status: application discontinuation |
Free format text: ABANDONED -- FAILURE TO RESPOND TO AN OFFICE ACTION |